废石手选机器人的动力学研究  

Dynamics study on waste hand-picking robot

作　　者：刘飞飞[1] 林飞[1] 

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《矿山机械》2013年第4期127-131,共5页Mining & Processing Equipment

摘　　要：利用凯恩(Kane)动力学方程得到废石手选机器人的动力学模型,并从动力学角度分析了机器人在运动过程中出现的轨迹跟踪性能差、控制精度低及关节振动大等问题的原因,为机器人的结构优化和轨迹规划提供了依据,为实现机器人的精确控制提供了基础。通过MATLAB编程求解,获得了各关节的驱动力矩的变化曲线。研究结果表明,动力学特性对机器人的运动有较大影响。Dynamic model of waste hand-picking robot was established with Kane dynamic equation. The causes of poor trajectory tracking performance, low control precision and severe joint vibration during robot operation were analyzed from dynamics view, which offered a basis for the structural optimization, trajectory planning and the accurate control of the robot. The variation curves of driving torque of several joints were obtained after programming in MATLAB. The study results showed that the dynamic characteristics greatly affected the robot operation.

关 键 词：动力学 机器人 废石手选 选矿 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]